diff --git a/drivers/soc/ti/Kconfig b/drivers/soc/ti/Kconfig
index e4f8834448..0ee21f9904 100644
--- a/drivers/soc/ti/Kconfig
+++ b/drivers/soc/ti/Kconfig
@@ -23,4 +23,15 @@ config TI_KEYSTONE_SERDES
 	 SerDes driver for Keystone SoC used for ethernet support on TI
 	 K2 platforms.
 
+config TI_PRUSS
+	bool "Support for TI's K3 based Pruss driver"
+	depends on DM
+	depends on ARCH_K3
+	depends on OF_CONTROL
+	depends on SYSCON
+	help
+	  Support for TI PRU-ICSSG subsystem.
+	  Currently supported on AM65xx SoCs Say Y here to support the
+	  Programmable Realtime Unit (PRU).
+
 endif # SOC_TI
diff --git a/drivers/soc/ti/Makefile b/drivers/soc/ti/Makefile
index 4ec04ee125..34f80aad29 100644
--- a/drivers/soc/ti/Makefile
+++ b/drivers/soc/ti/Makefile
@@ -2,3 +2,4 @@
 
 obj-$(CONFIG_TI_K3_NAVSS_RINGACC)	+= k3-navss-ringacc.o
 obj-$(CONFIG_TI_KEYSTONE_SERDES)	+= keystone_serdes.o
+obj-$(CONFIG_TI_PRUSS)	+= pruss.o
diff --git a/drivers/soc/ti/pruss.c b/drivers/soc/ti/pruss.c
new file mode 100644
index 0000000000..461390925d
--- /dev/null
+++ b/drivers/soc/ti/pruss.c
@@ -0,0 +1,217 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * PRU-ICSS platform driver for various TI SoCs
+ *
+ * Copyright (C) 2020-2021 Texas Instruments Incorporated - https://www.ti.com/
+ */
+
+#include <common.h>
+#include <dm.h>
+#include <dm/of_access.h>
+#include <errno.h>
+#include <clk.h>
+#include <reset.h>
+#include <regmap.h>
+#include <syscon.h>
+#include <asm/io.h>
+#include <power-domain.h>
+#include <linux/pruss_driver.h>
+#include <dm/device_compat.h>
+
+#define PRUSS_CFG_IEPCLK	0x30
+#define ICSSG_CFG_CORE_SYNC	0x3c
+
+#define ICSSG_TASK_MGR_OFFSET	0x2a000
+
+/* PRUSS_IEPCLK register bits */
+#define PRUSS_IEPCLK_IEP_OCP_CLK_EN		BIT(0)
+
+/* ICSSG CORE_SYNC register bits */
+#define ICSSG_CORE_VBUSP_SYNC_EN		BIT(0)
+
+/*
+ * pruss_request_tm_region() - Request pruss for task manager region
+ * @dev:	corresponding k3 device
+ * @loc:	the task manager physical address
+ *
+ * Return: 0 if all goes good, else appropriate error message.
+ */
+int pruss_request_tm_region(struct udevice *dev, phys_addr_t *loc)
+{
+	struct pruss *priv;
+
+	priv = dev_get_priv(dev);
+	if (!priv || !priv->mem_regions[PRUSS_MEM_DRAM0].pa)
+		return -EINVAL;
+
+	*loc = priv->mem_regions[PRUSS_MEM_DRAM0].pa + ICSSG_TASK_MGR_OFFSET;
+
+	return 0;
+}
+
+/**
+ * pruss_request_mem_region() - request a memory resource
+ * @dev: the pruss device
+ * @mem_id: the memory resource id
+ * @region: pointer to memory region structure to be filled in
+ *
+ * This function allows a client driver to request a memory resource,
+ * and if successful, will let the client driver own the particular
+ * memory region until released using the pruss_release_mem_region()
+ * API.
+ *
+ * Returns the memory region if requested resource is available, an
+ * error otherwise
+ */
+int pruss_request_mem_region(struct udevice *dev, enum pruss_mem mem_id,
+			     struct pruss_mem_region *region)
+{
+	struct pruss *pruss;
+
+	pruss = dev_get_priv(dev);
+	if (!pruss || !region)
+		return -EINVAL;
+
+	if (mem_id >= PRUSS_MEM_MAX)
+		return -EINVAL;
+
+	if (pruss->mem_in_use[mem_id])
+		return -EBUSY;
+
+	*region = pruss->mem_regions[mem_id];
+	pruss->mem_in_use[mem_id] = region;
+
+	return 0;
+}
+
+/**
+ * pruss_release_mem_region() - release a memory resource
+ * @dev: the pruss device
+ * @region: the memory region to release
+ *
+ * This function is the complimentary function to
+ * pruss_request_mem_region(), and allows the client drivers to
+ * release back a memory resource.
+ *
+ * Returns 0 on success, an error code otherwise
+ */
+int pruss_release_mem_region(struct udevice *dev,
+			     struct pruss_mem_region *region)
+{
+	struct pruss *pruss;
+	int id;
+
+	pruss = dev_get_priv(dev);
+	if (!pruss || !region)
+		return -EINVAL;
+
+	/* find out the memory region being released */
+	for (id = 0; id < PRUSS_MEM_MAX; id++) {
+		if (pruss->mem_in_use[id] == region)
+			break;
+	}
+
+	if (id == PRUSS_MEM_MAX)
+		return -EINVAL;
+
+	pruss->mem_in_use[id] = NULL;
+
+	return 0;
+}
+
+/**
+ * pruss_cfg_update() - configure a PRUSS CFG sub-module register
+ * @dev: the pruss device
+ * @reg: register offset within the CFG sub-module
+ * @mask: bit mask to use for programming the @val
+ * @val: value to write
+ *
+ * Programs a given register within the PRUSS CFG sub-module
+ *
+ * Returns 0 on success, or an error code otherwise
+ */
+int pruss_cfg_update(struct udevice *dev, unsigned int reg,
+		     unsigned int mask, unsigned int val)
+{
+	struct pruss *pruss;
+
+	pruss = dev_get_priv(dev);
+	if (IS_ERR_OR_NULL(pruss))
+		return -EINVAL;
+
+	return regmap_update_bits(pruss->cfg, reg, mask, val);
+}
+
+/**
+ * pruss_probe() - Basic probe
+ * @dev:	corresponding k3 device
+ *
+ * Return: 0 if all goes good, else appropriate error message.
+ */
+static int pruss_probe(struct udevice *dev)
+{
+	const char *mem_names[PRUSS_MEM_MAX] = { "dram0", "dram1", "shrdram2" };
+	ofnode sub_node, node, memories;
+	struct udevice *syscon;
+	struct pruss *priv;
+	int ret, idx, i;
+
+	priv = dev_get_priv(dev);
+	node = dev_ofnode(dev);
+	priv->dev = dev;
+	memories = ofnode_find_subnode(node, "memories");
+
+	for (i = 0; i < ARRAY_SIZE(mem_names); i++) {
+		idx = ofnode_stringlist_search(memories, "reg-names", mem_names[i]);
+		priv->mem_regions[i].pa = ofnode_get_addr_size_index(memories, idx,
+						       (u64 *)&priv->mem_regions[i].size);
+	}
+
+	sub_node = ofnode_find_subnode(node, "cfg");
+	ret = uclass_get_device_by_ofnode(UCLASS_SYSCON, sub_node,
+					  &syscon);
+
+	priv->cfg = syscon_get_regmap(syscon);
+	if (IS_ERR(priv->cfg)) {
+		dev_err(dev, "unable to get cfg regmap (%ld)\n",
+			PTR_ERR(priv->cfg));
+		return -ENODEV;
+	}
+
+	/*
+	 * ToDo: To be modelled as clocks.
+	 * The CORE block uses two multiplexers to allow software to
+	 * select one of three source clocks (ICSSGn_CORE_CLK, ICSSGn_ICLK or
+	 * ICSSGn_IEP_CLK) for the final clock source of the CORE block.
+	 * The user needs to configure ICSSG_CORE_SYNC_REG[0] CORE_VBUSP_SYNC_EN
+	 * bit & ICSSG_IEPCLK_REG[0] IEP_OCP_CLK_EN bit in order to select the
+	 * clock source to the CORE block.
+	 */
+	ret = regmap_update_bits(priv->cfg, ICSSG_CFG_CORE_SYNC,
+				 ICSSG_CORE_VBUSP_SYNC_EN,
+				 ICSSG_CORE_VBUSP_SYNC_EN);
+	if (ret)
+		return ret;
+	ret = regmap_update_bits(priv->cfg, PRUSS_CFG_IEPCLK,
+				 PRUSS_IEPCLK_IEP_OCP_CLK_EN,
+				 PRUSS_IEPCLK_IEP_OCP_CLK_EN);
+	if (ret)
+		return ret;
+
+	dev_dbg(dev, "pruss successfully probed %s\n", dev->name);
+
+	return 0;
+}
+
+static const struct udevice_id pruss_ids[] = {
+	{ .compatible = "ti,am654-icssg"},
+	{}
+};
+
+U_BOOT_DRIVER(pruss) = {
+	.name = "pruss",
+	.of_match = pruss_ids,
+	.id = UCLASS_MISC,
+	.probe = pruss_probe,
+	.priv_auto = sizeof(struct pruss),
+};
diff --git a/include/linux/pruss_driver.h b/include/linux/pruss_driver.h
new file mode 100644
index 0000000000..1408111118
--- /dev/null
+++ b/include/linux/pruss_driver.h
@@ -0,0 +1,227 @@
+// SPDX-License-Identifier: GPL-2.0
+
+#ifndef __TI_PRUSS_H
+#define __TI_PRUSS_H
+
+/*
+ * PRU_ICSS_CFG registers
+ * SYSCFG, ISRP, ISP, IESP, IECP, SCRP applicable on AMxxxx devices only
+ */
+#define PRUSS_CFG_REVID		0x00
+#define PRUSS_CFG_SYSCFG	0x04
+#define PRUSS_CFG_GPCFG(x)	(0x08 + (x) * 4)
+#define PRUSS_CFG_CGR		0x10
+#define PRUSS_CFG_ISRP		0x14
+#define PRUSS_CFG_ISP		0x18
+#define PRUSS_CFG_IESP		0x1C
+#define PRUSS_CFG_IECP		0x20
+#define PRUSS_CFG_SCRP		0x24
+#define PRUSS_CFG_PMAO		0x28
+#define PRUSS_CFG_MII_RT	0x2C
+#define PRUSS_CFG_IEPCLK	0x30
+#define PRUSS_CFG_SPP		0x34
+#define PRUSS_CFG_PIN_MX	0x40
+
+/* PRUSS_GPCFG register bits */
+#define PRUSS_GPCFG_PRU_GPO_SH_SEL		BIT(25)
+
+#define PRUSS_GPCFG_PRU_DIV1_SHIFT		20
+#define PRUSS_GPCFG_PRU_DIV1_MASK		GENMASK(24, 20)
+
+#define PRUSS_GPCFG_PRU_DIV0_SHIFT		15
+#define PRUSS_GPCFG_PRU_DIV0_MASK		GENMASK(15, 19)
+
+#define PRUSS_GPCFG_PRU_GPO_MODE		BIT(14)
+#define PRUSS_GPCFG_PRU_GPO_MODE_DIRECT		0
+#define PRUSS_GPCFG_PRU_GPO_MODE_SERIAL		BIT(14)
+
+#define PRUSS_GPCFG_PRU_GPI_SB			BIT(13)
+
+#define PRUSS_GPCFG_PRU_GPI_DIV1_SHIFT		8
+#define PRUSS_GPCFG_PRU_GPI_DIV1_MASK		GENMASK(12, 8)
+
+#define PRUSS_GPCFG_PRU_GPI_DIV0_SHIFT		3
+#define PRUSS_GPCFG_PRU_GPI_DIV0_MASK		GENMASK(7, 3)
+
+#define PRUSS_GPCFG_PRU_GPI_CLK_MODE_POSITIVE	0
+#define PRUSS_GPCFG_PRU_GPI_CLK_MODE_NEGATIVE	BIT(2)
+#define PRUSS_GPCFG_PRU_GPI_CLK_MODE		BIT(2)
+
+#define PRUSS_GPCFG_PRU_GPI_MODE_MASK		GENMASK(1, 0)
+#define PRUSS_GPCFG_PRU_GPI_MODE_SHIFT		0
+
+#define PRUSS_GPCFG_PRU_MUX_SEL_SHIFT		26
+#define PRUSS_GPCFG_PRU_MUX_SEL_MASK		GENMASK(29, 26)
+
+/* PRUSS_MII_RT register bits */
+#define PRUSS_MII_RT_EVENT_EN			BIT(0)
+
+/* PRUSS_SPP register bits */
+#define PRUSS_SPP_PRU1_PAD_HP_EN		BIT(0)
+#define PRUSS_SPP_XFER_SHIFT_EN			BIT(1)
+#define PRUSS_SPP_XFR_BYTE_SHIFT_EN		BIT(2)
+#define PRUSS_SPP_RTU_XFR_SHIFT_EN		BIT(3)
+
+/**
+ * enum pruss_gp_mux_sel - PRUSS GPI/O Mux modes for the
+ * PRUSS_GPCFG0/1 registers
+ *
+ * NOTE: The below defines are the most common values, but there
+ * are some exceptions like on 66AK2G, where the RESERVED and MII2
+ * values are interchanged. Also, this bit-field does not exist on
+ * AM335x SoCs
+ */
+enum pruss_gp_mux_sel {
+	PRUSS_GP_MUX_SEL_GP = 0,
+	PRUSS_GP_MUX_SEL_ENDAT,
+	PRUSS_GP_MUX_SEL_RESERVED,
+	PRUSS_GP_MUX_SEL_SD,
+	PRUSS_GP_MUX_SEL_MII2,
+	PRUSS_GP_MUX_SEL_MAX,
+};
+
+/**
+ * enum pruss_gpi_mode - PRUSS GPI configuration modes, used
+ *			 to program the PRUSS_GPCFG0/1 registers
+ */
+enum pruss_gpi_mode {
+	PRUSS_GPI_MODE_DIRECT = 0,
+	PRUSS_GPI_MODE_PARALLEL,
+	PRUSS_GPI_MODE_28BIT_SHIFT,
+	PRUSS_GPI_MODE_MII,
+};
+
+/**
+ * enum pruss_pru_id - PRU core identifiers
+ */
+enum pruss_pru_id {
+	PRUSS_PRU0 = 0,
+	PRUSS_PRU1,
+	PRUSS_NUM_PRUS,
+};
+
+/**
+ * enum pru_ctable_idx - Configurable Constant table index identifiers
+ */
+enum pru_ctable_idx {
+	PRU_C24 = 0,
+	PRU_C25,
+	PRU_C26,
+	PRU_C27,
+	PRU_C28,
+	PRU_C29,
+	PRU_C30,
+	PRU_C31,
+};
+
+/**
+ * enum pruss_mem - PRUSS memory range identifiers
+ */
+enum pruss_mem {
+	PRUSS_MEM_DRAM0 = 0,
+	PRUSS_MEM_DRAM1,
+	PRUSS_MEM_SHRD_RAM2,
+	PRUSS_MEM_MAX,
+};
+
+/**
+ * struct pruss_mem_region - PRUSS memory region structure
+ * @va: kernel virtual address of the PRUSS memory region
+ * @pa: physical (bus) address of the PRUSS memory region
+ * @size: size of the PRUSS memory region
+ */
+struct pruss_mem_region {
+	void __iomem *va;
+	phys_addr_t pa;
+	size_t size;
+};
+
+/**
+ * struct pruss - PRUSS parent structure
+ * @dev: pruss device pointer
+ * @cfg: regmap for config region
+ * @mem_regions: data for each of the PRUSS memory regions
+ * @mem_in_use: to indicate if memory resource is in use
+ */
+struct pruss {
+	struct udevice *dev;
+	struct regmap *cfg;
+	struct pruss_mem_region mem_regions[PRUSS_MEM_MAX];
+	struct pruss_mem_region *mem_in_use[PRUSS_MEM_MAX];
+};
+
+int pruss_request_tm_region(struct udevice *dev, phys_addr_t *loc);
+int pruss_request_mem_region(struct udevice *dev, enum pruss_mem mem_id,
+			     struct pruss_mem_region *region);
+int pruss_release_mem_region(struct udevice *dev, struct pruss_mem_region *region);
+int pruss_cfg_update(struct udevice *dev, unsigned int reg,
+		     unsigned int mask, unsigned int val);
+
+/**
+ * pruss_cfg_gpimode() - set the GPI mode of the PRU
+ * @dev: the pruss device
+ * @pru_id: the rproc instance handle of the PRU
+ * @mode: GPI mode to set
+ *
+ * Sets the GPI mode for a given PRU by programming the
+ * corresponding PRUSS_CFG_GPCFGx register
+ *
+ * Returns 0 on success, or an error code otherwise
+ */
+static inline int pruss_cfg_gpimode(struct udevice *dev, enum pruss_pru_id id,
+				    enum pruss_gpi_mode mode)
+{
+	if (id < 0)
+		return -EINVAL;
+
+	return pruss_cfg_update(dev, PRUSS_CFG_GPCFG(id),
+				PRUSS_GPCFG_PRU_GPI_MODE_MASK,
+				mode << PRUSS_GPCFG_PRU_GPI_MODE_SHIFT);
+}
+
+/**
+ * pruss_cfg_miirt_enable() - Enable/disable MII RT Events
+ * @dev: the pruss device
+ * @enable: enable/disable
+ *
+ * Enable/disable the MII RT Events for the PRUSS.
+ */
+static inline int pruss_cfg_miirt_enable(struct udevice *dev, bool enable)
+{
+	u32 set = enable ? PRUSS_MII_RT_EVENT_EN : 0;
+
+	return pruss_cfg_update(dev, PRUSS_CFG_MII_RT,
+				PRUSS_MII_RT_EVENT_EN, set);
+}
+
+/**
+ * pruss_cfg_xfr_enable() - Enable/disable XIN XOUT shift functionality
+ * @dev: the pruss device
+ * @enable: enable/disable
+ */
+static inline int pruss_cfg_xfr_enable(struct udevice *dev, bool enable)
+{
+	u32 set = enable ? PRUSS_SPP_XFER_SHIFT_EN : 0;
+
+	return pruss_cfg_update(dev, PRUSS_CFG_SPP,
+			PRUSS_SPP_XFER_SHIFT_EN, set);
+}
+
+/**
+ * pruss_cfg_set_gpmux() - set the GPMUX value for a PRU device
+ * @pruss: pruss device
+ * @pru_id: PRU identifier (0-1)
+ * @mux: new mux value for PRU
+ */
+static inline int pruss_cfg_set_gpmux(struct udevice *dev,
+				      enum pruss_pru_id id, u8 mux)
+{
+	if (mux >= PRUSS_GP_MUX_SEL_MAX)
+		return -EINVAL;
+
+	return pruss_cfg_update(dev, PRUSS_CFG_GPCFG(id),
+			PRUSS_GPCFG_PRU_MUX_SEL_MASK,
+			(u32)mux << PRUSS_GPCFG_PRU_MUX_SEL_SHIFT);
+}
+
+#endif /* __TI_PRUSS_H */
